How to make ik target overlap with its constrained bone's location
As far as I know, this is easiest to achieve, when the (first) constrained bone in the IK chain points to the target. I added a helper bone LowerLegHelper (which is the parent of Foot and Lower Leg) and added the IK constraint to it.

If you want Foot to be reoriented like IK_Target, simply add a Copy Rotation Constraint to it.